﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-


from __future__ import print_function
import sys
import time

import RTC
import OpenRTM_aist

datain_spec = ["implementation_id", "DataIn",
               "type_name", "DataIn",
               "description", "Console output component",
               "version", "1.0",
               "vendor", "Shinji Kurihara",
               "category", "example",
               "activity_type", "DataFlowComponent",
               "max_instance", "10",
               "language", "Python",
               "lang_type", "script",
               ""]


class DataIn(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        return

    def onInitialize(self):
        self._data = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._cspmanager = OpenRTM_aist.CSPManager()
        self._inport = OpenRTM_aist.CSPInPort(
            "in", self._data, self._cspmanager)
        # Set InPort buffer
        self.addInPort("in", self._inport)

        return RTC.RTC_OK

    def onExecute(self, ec_id):
        ret, outport, inport = self._cspmanager.select(100)
        if ret:
            if inport:
                inport.readData()
                #self._rtcout.RTC_ERROR("dataread: %s", (str(inport.readData())))
        return RTC.RTC_OK


def DataInInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=datain_spec)
    manager.registerFactory(profile,
                            DataIn,
                            OpenRTM_aist.Delete)


def MyModuleInit(manager):
    DataInInit(manager)

    # Create a component
    comp = manager.createComponent("DataIn")


def main():
    # Initialize manager
    mgr = OpenRTM_aist.Manager.init(sys.argv)

    # Set module initialization proceduer
    # This procedure will be invoked in activateManager() function.
    mgr.setModuleInitProc(MyModuleInit)

    # Activate manager and register to naming service
    mgr.activateManager()

    # run the manager in blocking mode
    # runManager(False) is the default
    mgr.runManager()

    # If you want to run the manager in non-blocking mode, do like this
    # mgr.runManager(True)


if __name__ == "__main__":
    main()
